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update environment type in Go2RLGymCommand; enable debug vis on play; update gitignore.

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This commit is contained in:
wertyuilife
2026-06-10 14:25:29 +08:00
parent c7a80005c1
commit f78f791275
3 changed files with 5 additions and 3 deletions
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1
.gitignore vendored
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@@ -85,3 +85,4 @@ __pycache__/
logs/ logs/
**/logs/ **/logs/
outputs/ outputs/
.omx/

1
scripts/rsl_rl/play.py
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@@ -112,6 +112,7 @@ def fix_commands(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvC
ang_vel_z=(fixed_ang_z, fixed_ang_z), ang_vel_z=(fixed_ang_z, fixed_ang_z),
heading=None, heading=None,
), ),
debug_vis=True,
) )
env_cfg.commands.base_velocity = fixed_cfg env_cfg.commands.base_velocity = fixed_cfg

6
source/robot_lab/robot_lab/tasks/go2/mdp/commands.py
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@@ -26,7 +26,7 @@ from __future__ import annotations # For forward reference of type hints
from typing import TYPE_CHECKING, Sequence from typing import TYPE_CHECKING, Sequence
if TYPE_CHECKING: # Avoid circular import for type checking if TYPE_CHECKING: # Avoid circular import for type checking
from robot_lab.tasks.go2.env.go2_env import ActionDelayGo2Env from robot_lab.tasks.go2.env.go2_env import Go2Env
from itertools import product from itertools import product
@@ -44,9 +44,9 @@ from robot_lab.tasks.go2.mdp.utils import is_robot_on_terrain, sample_disjoint_i
class Go2RLGymCommand(CommandTerm): class Go2RLGymCommand(CommandTerm):
cfg: Go2RLGymCommandCfg cfg: Go2RLGymCommandCfg
_env: ActionDelayGo2Env _env: Go2Env
def __init__(self, cfg: Go2RLGymCommandCfg, env: ActionDelayGo2Env): def __init__(self, cfg: Go2RLGymCommandCfg, env: Go2Env):
"""Reference: https://github.com/wty-yy/go2_rl_gym/blob/master/legged_gym/envs/base/legged_robot.py """Reference: https://github.com/wty-yy/go2_rl_gym/blob/master/legged_gym/envs/base/legged_robot.py
LeggedRobot._resample_command() and LeggedRobot._post_physics_step_callback() LeggedRobot._resample_command() and LeggedRobot._post_physics_step_callback()
""" """